Optical arrangement for tracking detector

ABSTRACT

A system and method of reducing turbulence sensitivity in a laser spot detector. Embodiments may include using beam splitters, reflectors, and beam deviators. The reflectors may be trihedral reflectors and the beam deviators may be segmented wedge plates having predetermined physical angles and angle directions in each wedge segment designed to produce opposing blurs for each segment of the aperture. A predetermined blur introduced into each line of sight eliminates the need for de-focus, thereby mitigating effects such as centroid shift caused by turbulence or dirty/damaged sensor apertures.

PRIORITY

This Non-provisional application claims priority under 35 U.S.C. §119(e)on U.S. Provisional Application No. 61/059,522 filed on Jun. 6, 2008,the entire contents of which are hereby incorporated by reference.

BACKGROUND OF THE INVENTION

A Laser Spot Tracker (LST) for an airborne or a ground system usuallyemploys a proportional quad cell detection mode where all four quadrantsof the detection cell have continuous illumination. Some types of laserspot trackers using a four-quadrant detection cell require a relativelylarge image spot diameter in order to operate in the proportionalmode—that is in order to determine an energy centroid in the laser spotand orient themselves accordingly.

When a large spot diameter is achieved with a beam spoiler or similarde-focusing device located in the laser spot tracker, the energycentroid of the detected signal changes position on the quad detectorcell as the signal varies over the sensor aperture. An image which isdefocused to create a larger spot is sensitive to pointing error due toatmospheric intensity variations or turbulence. These errors may resultfrom atmospheric temperature or pressure gradients between the lasersource and the tracking device, or from intervening noise sources suchas rain or dust.

The atmospheric turbulence can spread non-uniform reflected laserillumination over the aperture of the sensor. This effect causes thecentroid of the laser spot to be incorrectly ascertained on thedetector, leading to potential errors in tracking or targeting ofmunitions and other moving objects. For long range, high-resolutionlaser spot trackers on a ground vehicle, something as unavoidable ascontamination on an external window of the tracker may cause boresighterrors that lead to costly and potentially deadly errors in tracking andtargeting.

SUMMARY OF THE INVENTION

Embodiments of a laser spot tracker discussed herein may allow an imagespot to be tuned and shaped to a detector with minimal sensitivity toturbulence or external window contamination. An embodiment of aturbulence-insensitive laser-spot tracker may include a filter thatfilters incoming radiation, and a beam splitter that splits the filteredradiation into multiple beams or beam sets.

Embodiments of the filter may include a narrow band pass (NBP) filterconfigured to admit only certain wavebands of incident radiationassociated with a particular type of laser. Alternative embodiments ofthe filter may include band-gap filters, polarization filters, or otherforms of band-pass filtering depending on the type of incoming radiationto be detected. The filter may be a coating applied to an otherwisetransparent or translucent material, or may be a component made of amaterial with particular waveband filtering properties, or combinationsthereof. In some embodiments, a filter coating may be applied to theaperture openings or to the beam splitter. Embodiments of a beamsplitter may comprise one or more mirrors, or other optical components.Alternative embodiments of a beam splitter may employ dichroic materialsor coatings.

The split beams may be directed to multi-faceted retro-reflectors viasegmented beam deviators whose segments may be configured to deviate thelines of sight of the beams into a designated image blur based on thedeviation angle of the segment. In some embodiments, theretro-reflectors may be trihedral or otherwise configured to bealignment insensitive such that relative movement of theretro-reflectors, beam splitter, deviators, or other components duringoperation does not result in image splitting or centroid shifts. In yetfurther embodiments, the deviators may have a number of segments equalto the number of reflector facets.

After deviation and reflection, the beams may be focused by a lens ontoa detector for tracking. Such an arrangement may allow for theelimination of a defocus device commonly found in laser spot trackers.Defocusing spreads the entire detected laser signal across the plane ofthe detector to improve detection sensitivity and servo trackingability. Defocusing, however, also exacerbates detection errors relatedto light level variations at the sensor aperture caused by atmosphericeffects such as turbulence, fog, or window contamination. The defocuscreates a small image of the aperture on the surface of the detectorwhich changes its centroid location as the intensity distributionchanges on the sensor aperture. By not having to defocus the beam butinstead generating dual opposing laser spot images for each point on theaperture, turbulence effects may be reduced because the image centroidlocation doesn't change.

Further scope of applicability of the present invention will becomeapparent from the detailed description given hereinafter. However, itshould be understood that the detailed description and specificexamples, while indicating preferred embodiments of the invention, aregiven by way of illustration only, since various changes andmodifications within the spirit and scope of the invention will becomeapparent to those skilled in the art from this detailed description.

DESCRIPTION OF FIGURES

The present invention will become more fully understood from thedetailed description given herein below and the accompanying drawingswhich are given by way of illustration only, and thus are not limitativeof the present invention, and wherein:

FIG. 1 depicts an embodiment of a conventional laser spot tracker with adefocusing element;

FIG. 2 a depicts an embodiment of a laser spot tracker with a sight linedeviation arrangement according to the present invention;

FIG. 2 b depicts an embodiment of a flowchart showing a possiblesequence of operations in a beam deviation process according to thepresent invention;

FIG. 3 depicts an end view of an embodiment of a sight line deviationapparatus looking into a beam deviator aligned with a retro-reflectoraccording to the present invention;

FIG. 4 depicts a cross-sectional side view of an embodiment of atrihedral reflector and beam deviator arrangement configured to createan angular and spatial offset between input and output beams;

FIG. 5 depicts an embodiment of two sight line beam deviation masksconfigured with opposing wedge orientations in order to produce oppositeangular spreads;

FIG. 6A depicts an embodiment of an input aperture depicted withreference dots to show embodiments of beam deviation;

FIG. 6B depicts an embodiment of a projection pattern generated at thefocus of the imaging lens on a detector by one deviator mask and onereflector arrangement from one side of a beamsplitter;

FIG. 6C depicts an embodiment of a projection pattern generated on adetector by an arrangement involving two deviators and their associatedreflectors from two sides of a beamsplitter;

FIG. 7 depicts a projection pattern generated on a detector by adeviator and reflector arrangement according to the present invention.

The drawings will be described in detail in the course of the detaileddescription of the invention.

DETAILED DESCRIPTION

The present invention comprises a method and apparatus for the reductionand mitigation of detection errors and inaccuracies in a laser trackingdetection system caused by turbulence and other atmospheric conditions.

In a conventional laser spot tracker as shown in FIG. 1, incomingradiation is admitted through an aperture 100 at the front of thetracker 10. The radiation then passes through a narrow band-pass (NBP)filter 105 that removes all but the desired wavebands of laserradiation. The filtered radiation is then focused with a lens 115 ontoan intermediate focal plane. The quad-cell detector 110 is locatedbehind the best optical focus so that the defocused image blur fillsmost of the quad cell array. The effect of this de-focus is to spreadthe laser spot image across the array to improve detector sensitivity,thereby allowing for more accurate gimbal servo pointing and thereforeimproved laser spot tracking. An undesirable side-effect of thisde-focus, however, is error-producing image jitter and signal variationcaused by atmospheric effects such as turbulence or scintillation. Witha defocused quad cell, anything that causes non-uniform, time varyingaperture illumination will cause gimbal pointing error.

FIG. 2 a shows an embodiment of a tracker 20 equipped with an opticalsystem according to the present invention. In the embodiment shown,incoming radiation is admitted through an aperture 240 and then filtered225 before passing through a beam splitter 210 and being deviated 230,215 and reflected by a pair of retro-reflectors 235, 200 towards afocusing element 220 that projects the radiation onto a detector 205.

Embodiments of such a tracker may employ a 50% beam splitter, trihedralretro-reflector prisms 235, 200, and/or hexagonally segmented beamdeviators 230, 215. The beam deviators may be arranged such that one ormore of the segments therein has no associated deviation angle, allowinga beam to pass through it without a significant change in its line ofsight. Also, the reflectors and/or the deviators may be aligned atdifferent rotational angles with respect to each other depending on theinternal configuration of the tracker and the type of blur patterndesired.

In some embodiments of an optical system as discussed herein, a beamdeviator may be positioned such that a beam passes through a firstsegment of that deviator, is reflected by a trihedral reflector, andthen passes through another segment of the deviator again, before beingfocused by the lens onto the detector. Such a beam deviator/reflectorarrangement may be developed for each sight line of each beam or beamset depending on the blur pattern desired.

Alternate embodiments based on alternative forms or sources ofradiation, such as infra-red, ultra-violet, visible light, ormillimeter-wave, may employ different filters or filtering techniques.Such alternative radiation sources may require additional or differentfiltering Alternate embodiments may employ hollow multi-facetedreflectors rather than prisms, or band-pass filters to remove onlycertain wavebands of incoming radiation, wider band-pass filters ormultiple band-pass filters to admit multiple wavebands of radiation, orpolarization filters. Yet further embodiments may employ a filtercoating disposed on the beam splitter 210 or the aperture 240 insteadof, or in addition to, a separate filter component 225, or may useaperture windows 240 or beam splitters 210 composed of, or containing,materials with particular spectral filtering properties. In yet furtherembodiments, the aperture window 240 may be the external environmentalwindow.

Embodiments of the beam splitter 210 may include arrangements of mirrorsor prisms or may include a one-way minor or a transparent or translucentcomponent having a thin film coating which produces partial transmissionand partial reflection.

In the embodiment depicted, the beam splitter 210 used is a reflectingcomponent positioned to capture half of the radiation entering theaperture 240 and direct it towards a sight line deviation arrangementcomposed of a beam deviator 230 and a trihedral reflector 235. Theportion of the incoming radiation not diverted by the beam splitter 210after filtering passes to a second sight line deviation arrangement,which is also composed of a beam deviator 215 and a reflector 200. Insome embodiments, the beam splitter may be a 50% beam splitter. Forone-way mirror or film-coated embodiments of 50% beam splitters, themirror or coating should preferably produce 50% transmission and 50%reflection.

In yet further embodiments of an optical system as discussed herein, thebeam deviators may be segmented wedge plates containing a plurality ofpie shaped segments. These pie shaped segments may each be configuredwith a particular physical wedge angle corresponding to a desireddeviation angle. In some embodiments, the wedge plates may be orientedrotationally to the segments of a multi-faceted retro-reflector andsized according to the size of the retro-reflector. Also, in embodimentshaving multiple wedge plates, the plates may have different arrangementsof wedges and wedge angles, or they may be clear with zero wedge angle,or they may be identical plates in different positions and differentrelative rotational orientations.

In the embodiment depicted, the beam deviators 215, 230 are identifiedas hexagonal wedge plates, some of whose segments have wedge anglesdirected towards the center of the wedge plate, radially outward fromthe center, or in any other direction as is desired to produce aspecified shape at the quad cell. Embodiments of such wedge plates maybe fabricated from plastic sheeting or may be cookie-cut from sheets ofmolded wedge material. Alternative embodiments may be injection molded,cut from large wedged blocks of transparent material, or fabricated orassembled in other appropriate ways. Some embodiments may be assembledfrom individual wedge segments. Embodiments of a wedge plate having allwedge angles the same may be fabricated from a single wedge block.Embodiments of wedge plates have some of the above-discussed propertiesare depicted in FIGS. 3 and 5 and will be discussed in more detail insubsequent portions of this document. Yet further embodiments mayinclude beam deviators composed of materials or covered with coatingsthat have spectral filtering properties. Further embodiments still mayemploy beam deviators composed of or coated with materials havinganti-reflection properties.

In the embodiment depicted in FIG. 2, the beam deviators 230, 215 aredisposed in front of reflectors 235, 200. In some embodiments, thereflectors depicted and identified in FIG. 2 a may be trihedral prismsotherwise known as corner cube reflectors, or retro-reflectors 235, 200.Corner cubes are multi-faceted reflectors that may be used to create aspatial offset with exactly 180 degrees of angular deviation in thebeams reflected thereby. In the particular embodiment depicted, eachcorner cube has 3 reflective faces associated with 6 pie shaped beamdeviation segments as seen when looking into one. The particulararrangement depicted in this embodiment causes each incoming beam ofradiation to pass through a wedge plate segment, thereby being deviatedbased on the wedge angle of the segment, enter the trihedral reflectorat a certain point on the reflector face, get offset and emitted from adifferent point on the reflector face, and pass through a differentwedge plate segment that has a potentially different wedge angle,thereby potentially being further deviated.

Alternative embodiments may employ different types of reflectors, suchas flat mirrors. Embodiments employing planar reflectors instead ofmulti-faceted reflectors such as the trihedral ones depicted in FIG. 2 amay be mounted on an especially stable mounting to compensate for therelatively higher alignment sensitivity exhibited by flat reflectors asopposed to multi-faceted ones. Embodiments employing corner-cubereflectors may be alignment insensitive, allowing for a less expensiveand less precise mounting or permitting for a higher degree of relativemovement between the beam splitter and the corner cubes without causingimage splitting.

After undergoing the desired deviation and re-direction, the beams orbeam groups may be directed to a focusing device 220, such as a lens,that projects the beams onto a detector 205 for imaging. Preferably, thedetector 205 is a quad-cell detector, but alternative detectors, such asan array of PIN diodes or a staring focal-plane array, may also beemployed depending on the radiation being detected and the particularrequirements of the object being tracked or the system doing thetracking.

FIG. 2 b shows an embodiment of a beam deviation process associated withpossible embodiments of optical systems described herein. Incomingradiation is split 251 into two or more beam sets. The beam splitting251 may include or be preceded or followed by a filtering operation (notshown) in various alternative embodiments. Filtering may include narrowband pass filtering, polarization filtering, or band gap filteringdepending on the type of radiation being detected and the particularpurpose of a detector associated with an optical system.

In the embodiment shown, beam splitting 251 generates two beam sets,each of which is then separately subjected to sight line deviation 266,256. Embodiments of either or both sight line deviation 266, 256 stepsmay include single or multiple passes through a beam deviator 230, 215as shown in FIG. 2 a, and may also involve a step of reflecting all orpart of a beam set 296 after an initial deviation 276 for one or moresubsequent deviations 286.

Embodiments of the deviation method may create opposing blurs fordifferent beam sets. A first beam set may be deviated with a firstparticular deviation 266 imparting a particular image blur, whereas asecond beam set may be deviated with an opposing deviation 256 such thatthe image blur and disposition of the second beam set on a focal planemay be the opposite, or mirror-image, of the image blur and dispositionof the first beam set on the focal plane.

Embodiments of a reflection step 296 may include trihedral reflection ormay include alternative, alignment-sensitive forms of reflection.

After deviation, embodiments of a beam deviation process may focus thedeviated beams 261 onto a focal plane array or other detector (notshown) where the beams are detected 271. Embodiments of such a processendow each deviated beam set with a particular blur pattern thateliminates the need for wholesale beam de-focus, thereby mitigatingdetection errors associated with things like centroid shift that mayaccrue from atmospheric effects or dirt or damage to a sensor aperture.

FIG. 3 shows an embodiment of a beam deviator that may be employed in anembodiment of a tracker 20 as shown in FIG. 2. The particular embodimentshown in FIG. 3 is a hexagonal wedge plate 30 type of beam deviator. Inthe embodiment depicted, different segments 310, 305 have differentdirections of wedge angles associated with them as depicted by thedirection of the arrows. The magnitude of the wedge angles themselvesare all equal in the embodiment shown. Alternative embodiments, however,may have different wedge angle magnitudes as well as, or instead of,different wedge angle directions. One segment 310 may have a wedge anglethat narrows towards the center of the plate whereas a different segment305 may have no wedge angle at all. Embodiments of zero wedge anglesegments 305 may be created with a blank air space or by a planeparallel material used to physically connect the other wedge segmentsfor purposes of ease of manufacture and mounting. Yet furtherembodiments may have wedge angles that expand towards the center of theplate or vice versa or wedge angles that are not in the radial directionof the wedge.

Embodiments of segmented wedge plates may be fabricated as part of aplastic sheet or they may be cookie-cut from molded sheets of a singlewedge angle material. The wedge material may be a clear plastic orpolymer such as polyethylene, polystyrene, or polycarbonate or may beoptical glass. The physical wedge angle may be an expanding angle fromthe inside of the wedge plate towards its edge, or may be directed inthe opposite or different directions depending on the particular blurpattern and beam deviation pattern desired. In certain embodiments, thewedge angle of each segment may be tuned to the detector size. In thepreferred embodiment, each wedge segment has the same wedge angle.

The reflector joint 300 shown indicates a rotational alignment betweenthe wedge plate and an embodiment of an associated trihedral reflectoraccording to the embodiment depicted in FIG. 3. In such an embodiment, abeam passing through wedge 1 would, after reflection, pass through wedge4. The physical wedge angles of wedges 1 and 4, in such an embodiment,would have a cumulative effect on the overall deviation and blur of abeam passing through them, as depicted in FIG. 4. In alternativeembodiments, a wedge plate may be configured with only three wedgesegments. Such embodiments may be more suitable for lower-cost devicesor in embodiments having good physical alignment between the wedge plateand its associated reflector. In some embodiments of a collapsed wedgeplate, the wedge angles of each wedge segment may need to be altered topreserve a desired beam deviation and blur effect with a reduced numberof wedge segments.

FIG. 4 depicts an embodiment of a corner cube and wedge plate beamdeviation arrangement that illustrates examples of beam deviation andoffset. When passing through a wedge segment 400 with a particularperipheral thickness t and a wedge angle θ, a beam of incident radiation415 is refracted by a particular amount. The refracted beam is thenoffset by the corner-cube reflector 405, with the amount of offset beingdetermined by a width D of the reflector and the entry point and angleof the deviated beam. The offset beam, in such an embodiment, thenpasses through a different wedge of the segmented wedge plate. Thisdifferent wedge may have a same or different thickness and wedge angleas the first wedge 400. In the embodiment depicted, the thickness andwedge angle of the different wedge is the same as that of the firstwedge. The beam leaving the second wedge 410 therefore has an overalloptical deviation equal to the 2(n−1)θ, where n is the refractive indexof the wedge segment or segments having a wedge angle of θ. Foralternative embodiments where a beam passes through wedge segments ofdiffering wedge angle, or only passes through a single wedge segment, orpasses through more than two wedge segments, the optical deviationcalculation may be represented differently. Also, embodiments wheredifferent wedge segments are composed of different materials orotherwise possessed of differing refractive qualities may further alteror complicate the computation of an optical deviation.

FIG. 5 depicts an embodiment of two segmented wedge plates with reversedsegment wedge angles. The segments are numbered and oriented such thateach segment number on each wedge plate corresponds to light from samesection of the aperture being split into two amplitudes by thebeamsplitter 210 shown in FIG. 2. As in FIG. 3, the trihedral reflectorjoints 500, 505 shown on the two wedge plates 50, 55 indicate therotational alignment between the wedge plates and their respectiveassociated reflectors. The trihedral reflector joint may not be anactual physical structure of the wedge plate and instead merelyrepresented with a heavier line in the diagram for illustrativepurposes. Certain of the beams deviated by the first wedge plate 50 maybe overlapped, on a detector, with beams deviated by the second wedgeplate 55.

FIG. 6A depicts an embodiment of an entrance aperture showing aselection of conceptual ray paths. Two ray paths are shown for eachsegment of an embodiment of a hexagonal wedge plate. The particularembodiment depicted shows twelve ray paths, with the ray paths beingidentified with different patterns for ease of illustration.

FIG. 6B depicts an embodiment of beam projection ray paths from theaperture at FIG. 6A when they arrive at the detector. This is based onthe deviations of the hexagonal wedge plate, the trihedral reflector,the beamsplitter, and the imaging lens. The one trihedral reflectorembodiment shown indicates that for six incoming beams, four of thebeams will be individually projected onto the detector image plane whiletwo of the beams will be overlapped. The second same pattern ray pathfrom each aperture segment is also overlapped, but not shown separately.

FIG. 6C depicts an embodiment of a beam projection pattern based on thesum of the ray paths for both trihedral reflectors and their associatedwedge plates. The two trihedral reflector embodiment depicts anadditional mirror image of the beams projected by the one corner-cubeembodiment projected onto the detector. The mirror image pattern arisesin embodiments configured for wedge reversal between the two wedgeplates. In the embodiment depicted, the beams are overlapped, creatingan artificial image blur which doesn't correspond to the aperture. Insuch an embodiment, each point on the aperture is mapped into twoopposite positions on the detector. If one area of the aperture dims dueto turbulence or is blocked by window contamination, then the twoopposing spots from that hexagonal segment both dim together with nochange in the image centroid. By contrast, a defocused beam projecteddirectly without selective beam path deflection does not dim uniformly.This may cause in a change in the image centroid and an error in thetracking angle.

As shown in FIG. 7, the particular size of projected image on a detectorin embodiments of trackers described herein may be determined by acombination of the refractive index of the material used in anembodiment of beam deviation arrangement, the angle of a wedge segmentof a wedge-plate type beam deviator, and the focal length of an imaginglens or other focusing device used to project the deviated radiationonto a detector. In the particular embodiment depicted, the detector maybe a quad-cell detector. Alternative embodiments may use different typesof detectors depending on the particular needs of the tracking solutionbeing developed or implemented. Yet further embodiments may employ beamdeviators which cause different image patterns than the one pictured inFIG. 7. They may generate images having varying degrees of beam overlap,no beam overlap, or images not split into beams or beam groups at all.

Embodiments of such a method may include deviating the sight lines of atleast one of the split beams at a particular deviation angle to generatea desired image blur. In embodiments where incoming radiation is splitinto multiple beam sets, each beam set may be subject to a particulardeviation or arrangement of beam deviations. In alternative embodiments,each beam may be subjected to a particular deviation.

After being deviated to generate the desired blur pattern, the beams maybe focused onto a detector for tracking. Embodiments of the detectionaspect may include detection with a four-quadrant detector. Alternativeembodiments may employ specific arrays or arrangements of PIN diodes orother photo-detecting measures.

In some embodiments, the beam deviation process may involve or beassociated with beam reflection as well. A beam may be partiallydeviated, reflected, and then deviated further before focusing anddetection. Embodiments of the beam deviation process may involvedifferent degrees of deviation for different beams, which may beaccomplished with components such as the segmented wedge platesdiscussed above. Embodiments of beam deviation may include placing beamdeviators and, in applicable embodiments, reflectors, at differentrotational orientations with respect to each-other. Embodiments ofreflectors may include trihedral reflectors as discussed above. Furtherbeam input and output offsets may be accomplished during embodiments ofsuch a deviation process by changing the angles of the trihedral orwedge plates or using a loose tolerance trihedral reflector to produce adeviated beam without a wedge plate.

The invention being thus described, it will be obvious that the same maybe varied in many ways. Such variations are not to be regarded asdeparture from the spirit and scope of the invention, and all suchmodifications as would be obvious to one skilled in the art are intendedto be included within the scope of the following claims.

1. An optical system for a tracking sensor, the optical systemcomprising: a beam splitter that splits the incoming radiation into afirst beam set and a second beam set; a first reflector having aplurality of facets and first reflector aperture, said first reflectorbeing in optical communication with said beam splitter; a secondreflector having a plurality of facets second reflector aperture, saidsecond reflector being in optical communication with said beam splitter;a first segmented beam deviator having at least one segment thatdeviates lines of sight of the first beam set into a first designatedimage blur according to a first deviation angle, said first segmentedbeam deviator having a predetermined number of segments and being inoptical communication with said beam splitter and said first reflector;a second segmented beam deviator having at least one segment thatdeviates lines of sight of the second beam set into a second designatedimage blur according to a second deviation angle, said second segmentedbeam deviator also having the predetermined number of segments and beingin optical communication with said beam splitter and said secondreflector; a lens in optical communication with said first and secondreflectors, said lens focusing said first and second beam sets onto afocal plane and the first and second reflectors are trihedralreflectors.
 2. The system of claim 1, where the beam splitter is a 50%beam splitter.
 3. The system of claim 1, where at least one segmentedbeam deflector is hexagonally segmented.
 4. The system of claim 1, whereat least one segment of said first segmented beam deflector has adeviation angle of zero degrees.
 5. The system of claim 1, where thereflectors are positioned at a particular rotational angle with respectto each-other.
 6. The system of claim 1, where: said first segmentedbeam deviator is positioned such that said first beam set passes throughsaid first segmented beam deviator, is reflected by said firstreflector, and then passes through said first segmented beam deviatoragain before being focused by said lens onto said focal plane; and saidsecond segmented beam deviator is positioned such that said second beamset passes through said second segmented beam deviator, is reflected bysaid second reflector, and then passes through said second segmentedbeam deviator again before being focused by said lens onto said focalplane.
 7. The system of claim 1, the system further including a detectordisposed at said focal plane.
 8. The system of claim 7, where thedetector is a four-quadrant detector.
 9. The system of claim 5, wherethe first segmented beam deviator is positioned at the particularrotational angle with respect to the second segmented beam deviator. 10.The system of claim 1, where said first and second segmented beamdeviators are segmented wedge plates containing a plurality ofwedge-shaped segments; and where said first segmented wedge plate has asegment with a first physical wedge angle corresponding to said firstdeviation angle and said second segmented wedge plate has a segment witha second physical wedge angle corresponding to said second deviationangle.
 11. The system of claim 10, where the wedge segments of saidsegmented wedge plates are part of a single, molded component.
 12. Thesystem of claim 11, where said first and second physical wedge anglesare the same.
 13. The system of claim 1, the system further including afilter that filters incoming radiation.
 14. An optical system for atracking sensor, the optical system comprising: a beam splitter thatsplits the incoming radiation into a first beam set and a second beamset; a first trihedral reflector having a plurality of facets and firstreflector aperture, said first reflector being in optical communicationwith said beam splitter and said first reflector including a first beamdeviation portion that deviates lines of sight of the first beam setinto a first designated image blur; a second trihedral reflector havinga plurality of facets and a second reflector aperture, said secondreflector being in optical communication with said beam splitter andsaid second reflector including a second beam deviation portion thatdeviates lines of sight of the second beam set into a second designatedimage blur that is an opposing image blur of the first designated imageblue; a lens in optical communication with said first and secondreflectors; and a four-quadrant detector in optical communication withsaid lens.